Feature: [Driving straight in intersection without traffic lights] Yielding decision for slow oncoming lane vehicle turning at intersection#
This feature ensures that the ego vehicle makes a safe decision to either stop or proceed driving straight at an intersection when there is an oncoming vehicle slowly turning into its path.
Scenario Outline: Ego decides to whether to yield for slow oncoming vehicle turning right at the intersection (LHT)#
Confirm that the vehicle safely decides whether to stop or pass when a slow-moving NPC turns right and interferes with its trajectory in an intersection.
- Given Ego is driving at a constant velocity
- And Ego is approaching an intersection
- And Npc0 is on the oncoming traffic lane, positioned on the opposite side of the intersection from ego
- When Ego is
before the intersection - And Npc0 starts turning right into the intersection with speed
- Then Ego slows down or continues driving straight
- And Ego drives past the intersection
- And Ego drives safely with no collisions at all times
- And Ego does not decelerate at a rate below
at all times
Examples#
| vxi_ego | d_to_intersection | vx_npc0 | amin_ego |
|---|---|---|---|
| 15 km/h | 30 m | 3.5 km/h | -2.499 m/s^2 |
| 15 km/h | 30 m | 5.0 km/h | -2.499 m/s^2 |
| 15 km/h | 30 m | 7.5 km/h | -2.499 m/s^2 |